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<li class="navelem"><a class="el" href="dir_df511e5bd85cec96854b39d5e1c27aa8.html">cpp</a></li><li class="navelem"><a class="el" href="dir_bf0f0c8865c1942e08ab5157e2c596db.html">collision</a></li><li class="navelem"><a class="el" href="dir_0695118b3b27d100933d16472a5a2e05.html">include</a></li><li class="navelem"><a class="el" href="dir_d28884e0e9991dd74831dd1628ef4f1a.html">collision</a></li><li class="navelem"><a class="el" href="dir_e6ad0a15879717e90bb3edf6e9f68e2c.html">narrowphase</a></li>  </ul>
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<div class="title">triangle.h</div>  </div>
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<a href="triangle_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef TRIANGLE_H_</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define TRIANGLE_H_</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;assert.h&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="line__segment_8h.html">collision/line_segment.h</a>&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="shape_8h.html">collision/narrowphase/shape.h</a>&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html">   17</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1_triangle.html">Triangle</a> : <span class="keyword">public</span> <a class="code" href="classcollision_1_1_shape.html">Shape</a> {</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html#a73961e0a11c4ff0bfb05df6d86278352">   22</a></span>&#160;  <a class="code" href="classcollision_1_1_triangle.html#a73961e0a11c4ff0bfb05df6d86278352">Triangle</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;_v1 = Eigen::Vector2d(0, 0),</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;           <span class="keyword">const</span> Eigen::Vector2d &amp;_v2 = Eigen::Vector2d(0, 0),</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;           <span class="keyword">const</span> Eigen::Vector2d &amp;_v3 = Eigen::Vector2d(0, 0))</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;      : <a class="code" href="classcollision_1_1_shape.html">Shape</a>(Eigen::Vector2d(0, 0)), v1_(_v1), v2_(_v2), v3_(_v3) {</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <a class="code" href="classcollision_1_1_shape.html#a55dc047a30f0c61947d0bb46df3af8dd">set_center</a>(compute_center());</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    compute_incircle_radius_and_center();</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <a class="code" href="classcollision_1_1_triangle.html#a61e2e92ae795c6600bb436f102d9d2a8">segments_</a>.push_back(<a class="code" href="classcollision_1_1_line_segment.html">LineSegment</a>(_v1, _v2));</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <a class="code" href="classcollision_1_1_triangle.html#a61e2e92ae795c6600bb436f102d9d2a8">segments_</a>.push_back(<a class="code" href="classcollision_1_1_line_segment.html">LineSegment</a>(_v2, _v3));</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <a class="code" href="classcollision_1_1_triangle.html#a61e2e92ae795c6600bb436f102d9d2a8">segments_</a>.push_back(<a class="code" href="classcollision_1_1_line_segment.html">LineSegment</a>(_v3, _v1));</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  }</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html#a3028495d3a8673667bbef78cd35861dc">   33</a></span>&#160;  <a class="code" href="classcollision_1_1_triangle.html#a3028495d3a8673667bbef78cd35861dc">~Triangle</a>() {}</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_triangle.html#a302b97fe2004758c742cb741297a2f7e">rayTrace</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;point1, <span class="keyword">const</span> Eigen::Vector2d &amp;point2,</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;                std::vector&lt;LineSegment&gt; &amp;intersect) <span class="keyword">const override</span>;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html#a609ff938856d9cca7277e59af850c7f1">   38</a></span>&#160;  <span class="keyword">virtual</span> <a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">CollisionObjectType</a> <a class="code" href="classcollision_1_1_triangle.html#a609ff938856d9cca7277e59af850c7f1">getCollisionObjectType</a>()<span class="keyword"> const override </span>{</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1dad22e6bed070f46485602bb316c3ba">CollisionObjectType::OBJ_TYPE_TRIANGLE</a>;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  }</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <a class="code" href="classcollision_1_1_triangle.html#a73961e0a11c4ff0bfb05df6d86278352">Triangle</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_triangle.html">Triangle</a> &amp;copy);</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <a class="code" href="classcollision_1_1_triangle.html">Triangle</a> *<a class="code" href="classcollision_1_1_triangle.html#ac9d904f22f2a59ebfea06da723d91042">clone</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_triangle.html#ad8a5d2fd47ff87ff930a87fa0b66e34d">print</a>(std::ostringstream &amp;stream) <span class="keyword">const</span>;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a> <a class="code" href="classcollision_1_1_triangle.html#a0bd9a731e00ab353de0fea5653049367">type</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  Eigen::Vector2d <a class="code" href="classcollision_1_1_triangle.html#abe62d4e477deffc338ab28b3397470ca">v1</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  Eigen::Vector2d <a class="code" href="classcollision_1_1_triangle.html#aee78e4c8bdba8570d9ecb4332f5503a3">v2</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  Eigen::Vector2d <a class="code" href="classcollision_1_1_triangle.html#a088473df87a58c26f64dbad3a1e509ec">v3</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  Eigen::Vector2d <a class="code" href="classcollision_1_1_triangle.html#acc898f804fd9fdb0db42ea7d7ae0a3f2">center</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_triangle.html#a81910422b52e69304c135c3c0b219816">incircle_radius</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  Eigen::Vector2d <a class="code" href="classcollision_1_1_triangle.html#adea5f7dfb4e39ff82ed3fa44d07fc8e8">incenter</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html#ac9e5d550a26a7f4d9730616323def1c5">   56</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_triangle.html#ac9e5d550a26a7f4d9730616323def1c5">radius</a>()<span class="keyword"> const </span>{</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    assert(<span class="keyword">false</span>);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  }</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_triangle.html#a8f44b72862ff850176a1e0fa2b912bcc">set_v1</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;_v1);</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_triangle.html#a90748b85680786a2482433f91a55f11c">set_v2</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;_v2);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_triangle.html#a4c866497f3b8efd14e06d2943cc30346">set_v3</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;_v3);</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="preprocessor">#if ENABLE_SERIALIZER</span></div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <a class="code" href="classcollision_1_1serialize_1_1_i_collision_object_export.html">serialize::ICollisionObjectExport</a> *exportThis(<span class="keywordtype">void</span>) <span class="keyword">const override</span>;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html#abf3e84824a18b12f178eaa637d4264bd">   69</a></span>&#160;  std::vector&lt;LineSegment&gt; <a class="code" href="classcollision_1_1_triangle.html#abf3e84824a18b12f178eaa637d4264bd">segments</a>(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1_triangle.html#a61e2e92ae795c6600bb436f102d9d2a8">segments_</a>; };</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <a class="code" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry&lt;FCL_PRECISION&gt;</a> *</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <a class="code" href="classcollision_1_1_triangle.html#af57b0d102f9b09a1cfbd4739acac6bc5">createFCLCollisionGeometry</a>(<span class="keywordtype">void</span>) <span class="keyword">const override</span>;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *<a class="code" href="classcollision_1_1_triangle.html#a44550763f1e64283ca604c6e03d5223b">createFCLCollisionObject</a>(</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">const</span> std::shared_ptr&lt;<a class="code" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry&lt;FCL_PRECISION&gt;</a>&gt; &amp;)</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">const override</span>;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classcollision_1_1_triangle.html#a61e2e92ae795c6600bb436f102d9d2a8">   78</a></span>&#160;  std::vector&lt;LineSegment&gt; <a class="code" href="classcollision_1_1_triangle.html#a61e2e92ae795c6600bb436f102d9d2a8">segments_</a>;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  Eigen::Vector2d compute_center();</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordtype">void</span> compute_incircle_radius_and_center();</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keyword">using</span> <a class="code" href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">Shape::center_</a>;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="keyword">using</span> <a class="code" href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">Shape::radius_</a>;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  Eigen::Vector2d v1_;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  Eigen::Vector2d v2_;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  Eigen::Vector2d v3_;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordtype">double</span> incircle_radius_;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  Eigen::Vector2d incenter_;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keyword">static</span> constexpr <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a> type_ = <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3aec5963166cc5990e6540dd3881f10bb1">TYPE_TRIANGLE</a>;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;};</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="namespacecollision.html#aa269147da922be0c325ba51ca8410372">   98</a></span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;Triangle&gt; <a class="code" href="namespacecollision.html#aa269147da922be0c325ba51ca8410372">TrianglePtr</a>;</div><div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="namespacecollision.html#aed68b76265f6e6ba0f41f6f7a6762675">   99</a></span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;const Triangle&gt; <a class="code" href="namespacecollision.html#aed68b76265f6e6ba0f41f6f7a6762675">TriangleConstPtr</a>;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;} <span class="comment">// namespace collision</span></div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classcollision_1_1_shape_html_a55dc047a30f0c61947d0bb46df3af8dd"><div class="ttname"><a href="classcollision_1_1_shape.html#a55dc047a30f0c61947d0bb46df3af8dd">collision::Shape::set_center</a></div><div class="ttdeci">void set_center(const Eigen::Vector2d &amp;_center)</div><div class="ttdoc">Set geometric center of shape.</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00022">shape.cc:22</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_abf3e84824a18b12f178eaa637d4264bd"><div class="ttname"><a href="classcollision_1_1_triangle.html#abf3e84824a18b12f178eaa637d4264bd">collision::Triangle::segments</a></div><div class="ttdeci">std::vector&lt; LineSegment &gt; segments(void) const</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8h_source.html#l00069">triangle.h:69</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_aee78e4c8bdba8570d9ecb4332f5503a3"><div class="ttname"><a href="classcollision_1_1_triangle.html#aee78e4c8bdba8570d9ecb4332f5503a3">collision::Triangle::v2</a></div><div class="ttdeci">Eigen::Vector2d v2() const</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00079">triangle.cc:79</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_ab453849fed42ee9769df87210ca5262d"><div class="ttname"><a href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">collision::Shape::radius_</a></div><div class="ttdeci">double radius_</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00072">shape.h:72</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_a61e2e92ae795c6600bb436f102d9d2a8"><div class="ttname"><a href="classcollision_1_1_triangle.html#a61e2e92ae795c6600bb436f102d9d2a8">collision::Triangle::segments_</a></div><div class="ttdeci">std::vector&lt; LineSegment &gt; segments_</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8h_source.html#l00078">triangle.h:78</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_a81910422b52e69304c135c3c0b219816"><div class="ttname"><a href="classcollision_1_1_triangle.html#a81910422b52e69304c135c3c0b219816">collision::Triangle::incircle_radius</a></div><div class="ttdeci">double incircle_radius() const</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00087">triangle.cc:87</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3aec5963166cc5990e6540dd3881f10bb1"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3aec5963166cc5990e6540dd3881f10bb1">collision::TYPE_TRIANGLE</a></div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00017">shape.h:17</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html"><div class="ttname"><a href="classcollision_1_1_triangle.html">collision::Triangle</a></div><div class="ttdoc">Triangle.</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8h_source.html#l00017">triangle.h:17</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_ac9d904f22f2a59ebfea06da723d91042"><div class="ttname"><a href="classcollision_1_1_triangle.html#ac9d904f22f2a59ebfea06da723d91042">collision::Triangle::clone</a></div><div class="ttdeci">Triangle * clone() const</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00014">triangle.cc:14</a></div></div>
<div class="ttc" id="namespacecollision_html_a450ba6ce42e02aa75e1a94fcbddae149"><div class="ttname"><a href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">collision::CollisionObjectType</a></div><div class="ttdeci">CollisionObjectType</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00016">collision_object_types.h:16</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_object_html"><div class="ttname"><a href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt; FCL_PRECISION &gt;</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_ac9e5d550a26a7f4d9730616323def1c5"><div class="ttname"><a href="classcollision_1_1_triangle.html#ac9e5d550a26a7f4d9730616323def1c5">collision::Triangle::radius</a></div><div class="ttdeci">double radius() const</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8h_source.html#l00056">triangle.h:56</a></div></div>
<div class="ttc" id="line__segment_8h_html"><div class="ttname"><a href="line__segment_8h.html">line_segment.h</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_geometry_html"><div class="ttname"><a href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry</a></div><div class="ttdef"><b>Definition:</b> <a href="i__fcl__collision__object_8h_source.html#l00010">i_fcl_collision_object.h:10</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_abe62d4e477deffc338ab28b3397470ca"><div class="ttname"><a href="classcollision_1_1_triangle.html#abe62d4e477deffc338ab28b3397470ca">collision::Triangle::v1</a></div><div class="ttdeci">Eigen::Vector2d v1() const</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00077">triangle.cc:77</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_a088473df87a58c26f64dbad3a1e509ec"><div class="ttname"><a href="classcollision_1_1_triangle.html#a088473df87a58c26f64dbad3a1e509ec">collision::Triangle::v3</a></div><div class="ttdeci">Eigen::Vector2d v3() const</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00081">triangle.cc:81</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_a90748b85680786a2482433f91a55f11c"><div class="ttname"><a href="classcollision_1_1_triangle.html#a90748b85680786a2482433f91a55f11c">collision::Triangle::set_v2</a></div><div class="ttdeci">void set_v2(const Eigen::Vector2d &amp;_v2)</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00094">triangle.cc:94</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_a44550763f1e64283ca604c6e03d5223b"><div class="ttname"><a href="classcollision_1_1_triangle.html#a44550763f1e64283ca604c6e03d5223b">collision::Triangle::createFCLCollisionObject</a></div><div class="ttdeci">fcl::CollisionObject&lt; FCL_PRECISION &gt; * createFCLCollisionObject(const std::shared_ptr&lt; fcl::CollisionGeometry&lt; FCL_PRECISION &gt;&gt; &amp;) const override</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00070">triangle.cc:70</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_af57b0d102f9b09a1cfbd4739acac6bc5"><div class="ttname"><a href="classcollision_1_1_triangle.html#af57b0d102f9b09a1cfbd4739acac6bc5">collision::Triangle::createFCLCollisionGeometry</a></div><div class="ttdeci">fcl::CollisionGeometry&lt; FCL_PRECISION &gt; * createFCLCollisionGeometry(void) const override</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00052">triangle.cc:52</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_a3028495d3a8673667bbef78cd35861dc"><div class="ttname"><a href="classcollision_1_1_triangle.html#a3028495d3a8673667bbef78cd35861dc">collision::Triangle::~Triangle</a></div><div class="ttdeci">~Triangle()</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8h_source.html#l00033">triangle.h:33</a></div></div>
<div class="ttc" id="classcollision_1_1serialize_1_1_i_collision_object_export_html"><div class="ttname"><a href="classcollision_1_1serialize_1_1_i_collision_object_export.html">collision::serialize::ICollisionObjectExport</a></div><div class="ttdef"><b>Definition:</b> <a href="i__collision__object__export_8h_source.html#l00008">i_collision_object_export.h:8</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_a73961e0a11c4ff0bfb05df6d86278352"><div class="ttname"><a href="classcollision_1_1_triangle.html#a73961e0a11c4ff0bfb05df6d86278352">collision::Triangle::Triangle</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW Triangle(const Eigen::Vector2d &amp;_v1=Eigen::Vector2d(0, 0), const Eigen::Vector2d &amp;_v2=Eigen::Vector2d(0, 0), const Eigen::Vector2d &amp;_v3=Eigen::Vector2d(0, 0))</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8h_source.html#l00022">triangle.h:22</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_ad8a5d2fd47ff87ff930a87fa0b66e34d"><div class="ttname"><a href="classcollision_1_1_triangle.html#ad8a5d2fd47ff87ff930a87fa0b66e34d">collision::Triangle::print</a></div><div class="ttdeci">void print(std::ostringstream &amp;stream) const</div><div class="ttdoc">Print all parameters of the shape.</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00042">triangle.cc:42</a></div></div>
<div class="ttc" id="namespacecollision_html_aa269147da922be0c325ba51ca8410372"><div class="ttname"><a href="namespacecollision.html#aa269147da922be0c325ba51ca8410372">collision::TrianglePtr</a></div><div class="ttdeci">std::shared_ptr&lt; Triangle &gt; TrianglePtr</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8h_source.html#l00098">triangle.h:98</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">collision::ShapeType</a></div><div class="ttdeci">ShapeType</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00012">shape.h:12</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_a8f44b72862ff850176a1e0fa2b912bcc"><div class="ttname"><a href="classcollision_1_1_triangle.html#a8f44b72862ff850176a1e0fa2b912bcc">collision::Triangle::set_v1</a></div><div class="ttdeci">void set_v1(const Eigen::Vector2d &amp;_v1)</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00089">triangle.cc:89</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_acc898f804fd9fdb0db42ea7d7ae0a3f2"><div class="ttname"><a href="classcollision_1_1_triangle.html#acc898f804fd9fdb0db42ea7d7ae0a3f2">collision::Triangle::center</a></div><div class="ttdeci">Eigen::Vector2d center() const</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00083">triangle.cc:83</a></div></div>
<div class="ttc" id="classcollision_1_1_line_segment_html"><div class="ttname"><a href="classcollision_1_1_line_segment.html">collision::LineSegment</a></div><div class="ttdef"><b>Definition:</b> <a href="line__segment_8h_source.html#l00019">line_segment.h:19</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html"><div class="ttname"><a href="classcollision_1_1_shape.html">collision::Shape</a></div><div class="ttdoc">Base prototype for the shape of an obstacle.</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00024">shape.h:24</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_a4c866497f3b8efd14e06d2943cc30346"><div class="ttname"><a href="classcollision_1_1_triangle.html#a4c866497f3b8efd14e06d2943cc30346">collision::Triangle::set_v3</a></div><div class="ttdeci">void set_v3(const Eigen::Vector2d &amp;_v3)</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00099">triangle.cc:99</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_a0bd9a731e00ab353de0fea5653049367"><div class="ttname"><a href="classcollision_1_1_triangle.html#a0bd9a731e00ab353de0fea5653049367">collision::Triangle::type</a></div><div class="ttdeci">ShapeType type() const</div><div class="ttdoc">Get shape type.</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00040">triangle.cc:40</a></div></div>
<div class="ttc" id="shape_8h_html"><div class="ttname"><a href="shape_8h.html">shape.h</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_a609ff938856d9cca7277e59af850c7f1"><div class="ttname"><a href="classcollision_1_1_triangle.html#a609ff938856d9cca7277e59af850c7f1">collision::Triangle::getCollisionObjectType</a></div><div class="ttdeci">virtual CollisionObjectType getCollisionObjectType() const override</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8h_source.html#l00038">triangle.h:38</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_adea5f7dfb4e39ff82ed3fa44d07fc8e8"><div class="ttname"><a href="classcollision_1_1_triangle.html#adea5f7dfb4e39ff82ed3fa44d07fc8e8">collision::Triangle::incenter</a></div><div class="ttdeci">Eigen::Vector2d incenter() const</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00085">triangle.cc:85</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_a3a397b619573e160d18954605a11f7bd"><div class="ttname"><a href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">collision::Shape::center_</a></div><div class="ttdeci">Eigen::Vector2d center_</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00071">shape.h:71</a></div></div>
<div class="ttc" id="namespacecollision_html_a450ba6ce42e02aa75e1a94fcbddae149a1dad22e6bed070f46485602bb316c3ba"><div class="ttname"><a href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1dad22e6bed070f46485602bb316c3ba">collision::OBJ_TYPE_TRIANGLE</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00022">collision_object_types.h:22</a></div></div>
<div class="ttc" id="namespacecollision_html_aed68b76265f6e6ba0f41f6f7a6762675"><div class="ttname"><a href="namespacecollision.html#aed68b76265f6e6ba0f41f6f7a6762675">collision::TriangleConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const Triangle &gt; TriangleConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8h_source.html#l00099">triangle.h:99</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html_a302b97fe2004758c742cb741297a2f7e"><div class="ttname"><a href="classcollision_1_1_triangle.html#a302b97fe2004758c742cb741297a2f7e">collision::Triangle::rayTrace</a></div><div class="ttdeci">bool rayTrace(const Eigen::Vector2d &amp;point1, const Eigen::Vector2d &amp;point2, std::vector&lt; LineSegment &gt; &amp;intersect) const override</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8cc_source.html#l00023">triangle.cc:23</a></div></div>
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